- April 21, 1989: host Kathleen Sullivan interviewed Jim Henson from the Muppet Workshop, live via satellite. During the tour of the studio, both Kermit and Rowlf make appearances, with Rowlf using a little more adult humor with the term "S.O.B." Also seen in the background of the studio tour were Guy Smiley, Bugsy Them, Waldorf, Gonzo, the chickens and The Swedish Chef. The inner workings of Junior Gorg's head were also shown, along with a Hummingbird from The Song of the Cloud Forest.
- December 16, 1994: Kermit the Frog, Robin, Clifford (dressed as Santa Claus) and two of the Elvises appear to perform a medley of Christmas songs.
- 1994: Harry Smith played the tuba on "All Together Now" with the Muppets in a promotional appearance for the Kermit Unpigged album on the program.
- January 13, 2014: Mo Rocca made a visit to the Sesame Street set where he was given puppeteering lessons from Marty Robinson and Matt Vogel. Donning a green-suit, Rocca assisted in performing a scene with Horatio for a Season 45 scene. (YouTube) A web-exclusive video featured Joey Mazzarino giving a tour inside the Horatio puppet. (YouTube)
- September 12, 2014: Kermit the Frog appears in the recurring segment Note to Self, writing and reading a letter to his tadpole self, reflecting on his life, career, and on Jim Henson.